mapping and navigation packages for humble

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octomap and cartographer are available for Humble Hawksbill. To find more mapping packages or any particular package available for the specific distro. The ROS Index lists all the packages available for all the distros.

~Gundam Out`

Slam toolbox and Nav2 should be available for Humble.

There is a tutorial for SLAMming with Nav2.

ETA: Since Gazebo is no longer supported in Humble and the switch is being made to Ignition Gazebo, a lot of packages (including Nav2 and probably Slam Toolbox).

If you want to run it on a physical robot, I suggest building them both from source.